Guided carrier robot

Abstract

The utility model belongs to the automatic material handling and transportation technical field discloses the guide carrier robot. The guide carrier robot includes the mounting bracket, vertical hanger pole and guide piece, the opposite sides of mounting bracket are provided with the travelling wheel respectively, two travelling wheels are respectively rotatory and are located on the part of bottom plate located in the both sides of guide groove, the first end of vertical hanger pole is connected in mounting bracket and is located between two travelling wheels, the second end of vertical hanger pole is connected with the carrier for loading material after passing through guide groove along Z axle, the guide piece is connected in mounting bracket and is located in the outer periphery of vertical hanger pole, the guide piece is rotatory and is located in guide groove, and the guide piece is used for guiding vertical hanger pole to move in guide groove, the guide piece will guide the mobile of vertical hanger pole first relative to vertical hanger pole when straight -line or changing lane or turning, can avoid the turning, deflection or skid of travelling wheel and the stagnation of card.

Description

Technical Field

[0001] This utility model relates to the field of automated material handling and transportation technology, and in particular to a guide vehicle robot. Background Technology

[0002] Currently, guided vehicle robots (including self-propelled robots and carriers for loading materials) can run on tracks and travel in straight lines, turn, and change tracks along the tracks to transport materials to various processing positions. The robot's (the other structural assemblies in the guided vehicle robot excluding the carrier) vertical rod is movably inserted into a narrow guide groove at the bottom of the track. The portion of the vertical rod extending beyond the guide groove is used to connect to the carrier. During the robot's movement along the track, because it is difficult for the robot to maintain a constant position in the center of the track, the vertical rod rubs against the side walls of the narrow guide groove, causing wear on the vertical rod (which is specifically a hollow rod containing electrical wires). This generates additional resistance and noise during operation, and the friction causes the robot to deflect, thus affecting the overall stability of the guided vehicle robot.

[0003] The track can be configured as a straight line, a curve, or other specific shape according to the production and processing requirements of different materials, so as to provide the robot with the required movement path. When the narrow guide trough includes a first guide trough and a second guide trough that intersect, the robot can move from the branch of the first guide trough to the second guide trough. That is, the vertical rod needs to move from the first guide trough to the second guide trough. Or when the narrow guide trough is curved, a lane change is required at the intersection of the first guide trough and the second guide trough, and a turn is required in the curved narrow guide trough. However, due to the change in track shape, the rotation speed of the robot's two traveling wheels must also be changed accordingly. At this time, it is easy to generate speed control deviation, which may cause the robot to be unable to turn smoothly along the track or to go to the wrong intersection or stay at the intersection (spinning). This makes it difficult for the vertical rod to pass directly through the lane change position and the turning position, and the traveling wheels may spin or deflect. It is impossible to guarantee the smoothness and stability of the guide vehicle robot changing lanes / turning in the narrow guide trough.

[0004] Moreover, when the narrow guide groove is a straight groove, that is, when the vertical rod moves in a straight line in the straight groove, if any of the drive components used to drive the travel wheel gets stuck or damaged due to an accident, it is easy to cause the corresponding travel wheel to slip or get stuck, and the guiding and stability of the vertical rod in the straight groove cannot be guaranteed. Utility Model Content

[0005] The purpose of this utility model is to provide a guided vehicle robot that can reduce friction between the vertical hanging rod and the side wall of the guide groove through the guide component. When running in a straight line, changing lanes or turning, the guide component will move relative to the vertical hanging rod first, so as to carry the vertical hanging rod with it, thereby avoiding the travel wheels from spinning, deflecting or slipping and getting stuck.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A guide vehicle robot is connected to a track, the base plate of which is provided with guide grooves; the guide vehicle robot includes:

[0008] The mounting frame has two travel wheels on opposite sides, and the two travel wheels are respectively rotatably placed on the portions of the base plate located on both sides of the guide groove.

[0009] A vertical hanging rod, the first end of which is connected to the mounting frame and located between the two traveling wheels, and the second end of which moves along the Z-axis through the guide groove and is connected to a carrier for loading materials;

[0010] A guide member is connected to the mounting bracket and positioned on the outer periphery of the vertical hanging rod. The guide member is movably positioned within the guide groove and is used to guide the vertical hanging rod to move within the guide groove.

[0011] As an optional solution, the guide includes:

[0012] A guide block is slidably disposed within the guide groove. One end of the guide block is circumferentially disposed around the outer periphery of the vertical hanging rod and connected to the mounting frame. The other end of the guide block extends along the travel direction of the guide vehicle robot.

[0013] As an optional solution, the front end of the guide block facing the traveling direction of the guide vehicle robot is configured as a conical structure, and the outer diameter of the conical structure gradually increases along the traveling direction of the guide vehicle robot and in the direction close to the vertical hanging rod.

[0014] As an optional solution, the guide block has a limiting groove recessed on its two opposite outer sides. The limiting groove extends along the traveling direction of the guide carrier robot, and the two opposite sides of the guide groove are slidably engaged in the limiting groove.

[0015] As an optional solution, the guide includes:

[0016] Multiple rolling elements are rotatably connected to the mounting frame. Each rolling element is rotatably disposed within the guide groove and can roll into contact with the inner sidewall of the guide groove. When the guide vehicle robot moves, the rolling elements cooperate with the guide groove to guide the guide vehicle robot forward.

[0017] As an optional solution, the rolling elements are arranged in two rows, located on both sides of the vertical hanging rod and arranged opposite each other. Along the traveling direction of the guide vehicle robot, the distance between the two relative rolling elements located at the rear is greater than the distance between the two relative rolling elements located at the front.

[0018] As an optional solution, the rolling element is at least located on the front side of the vertical hanging rod along the traveling direction of the guide vehicle robot, and at least one rolling element is located at the foremost end of the traveling direction of the guide vehicle robot.

[0019] As an optional solution, the rolling element is disposed on the front side of the vertical rod along the traveling direction of the guide vehicle robot. At least two rolling elements are provided, with the outer diameter of the rolling element located at the rear being larger than the outer diameter of the rolling element located at the front, and the outer diameter of the rolling element closest to the vertical rod being not smaller than the outer diameter of the vertical rod.

[0020] As an optional solution, the rolling element includes:

[0021] A connector, comprising a smooth rod, a threaded rod, and an end support plate, wherein the threaded rod is threaded upward along the Z-axis into the mounting bracket, and the smooth rod is connected between the threaded rod and the end support plate;

[0022] A roller is rolled and sleeved on the guide rod and positioned on the end support plate. The roller is used to make rolling contact with the side wall of the guide groove.

[0023] Alternatively, the upper surface of the roller is higher than the upper side surface of the base plate, and the lower surface of the roller is lower than the lower side surface of the base plate.

[0024] The beneficial effects of this utility model are:

[0025] By setting travel wheels on opposite sides of the mounting frame, the two travel wheels rotate and are positioned on the bottom plate of the track on both sides of the guide groove. The first end of the vertical hanger is connected to the mounting frame and located between the two travel wheels, while the second end of the vertical hanger moves along the Z-axis through the guide groove and connects to the carrier for loading materials. When the two travel wheels rotate on the bottom plate, they can drive the vertical hanger and its carrier to move along the guide groove to various processing positions. Furthermore, the guide component is connected to the mounting frame and placed on the outer periphery of the vertical hanger. The guide component is movably placed within the guide groove. That is, during the long-term operation of the vertical hanger, the guide component will rub against the opposite sides of the guide groove wall to wear down the guide component first. This reduces the friction between the vertical hanger and the side wall of the guide groove, thus better protecting the vertical hanger and avoiding additional resistance and noise during operation. This ensures the working stability of the entire guide carrier robot.

[0026] Simultaneously, the vertical rod is guided to move within the guide groove by a guide component. On one hand, the guide component guides the vertical rod to change lanes between the first and second guide grooves that intersect, or to turn within the curved groove. That is, when changing lanes or turning, the guide component enters the guide groove or turning position relative to the vertical rod before it needs to change lanes, thus moving the vertical rod along with it. This allows the guide component to provide better guidance for the vertical rod, ensuring that it can easily and smoothly pass through lane-changing and turning positions, thereby preventing the wheels of the guided vehicle robot from spinning. The deflection phenomenon ensures the smoothness and stability of the guided vehicle robot changing lanes / turning within the guide groove. On the other hand, when the vertical rod moves linearly within the guide groove (straight groove), if any drive component used to drive the traveling wheel becomes stuck or damaged due to an unexpected situation, causing the corresponding traveling wheel to slip or become stuck, the guide component at the front end can always provide guidance for the vertical rod. This allows the vertical rod to continue moving smoothly along the straight groove, thus ensuring the guiding and stability of the vertical rod's movement within the straight groove. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the track (the guide groove includes a first guide groove and a second guide groove, excluding the track portion) provided in this embodiment of the utility model. Figure 1 ;

[0028] Figure 2 This is a schematic diagram of the structure of the track (guide groove is a curved groove) provided in this embodiment of the utility model. Figure 2 ;

[0029] Figure 3 This is a structural schematic diagram of the guided vehicle robot (guide component includes guide block) provided in this embodiment of the utility model. Figure 1 ;

[0030] Figure 4 This is a schematic diagram of the assembly structure between the mounting bracket, guide block, and vertical hanging rod provided in this embodiment of the utility model;

[0031] Figure 5 This is a structural schematic diagram of the guide vehicle robot (the guide component includes five rolling elements) provided in this embodiment of the utility model. Figure 2 ;

[0032] Figure 6 This is an exploded structural diagram of the rolling element provided in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the guide vehicle robot (the guide component includes six rolling elements) provided in this embodiment of the utility model. Figure 3 ;

[0034] Figure 8 This is a structural schematic diagram of the guide vehicle robot (the guide component includes five rolling elements) provided in this embodiment of the utility model. Figure 4 ;

[0035] Figure 9 This is a schematic diagram of the structure of the guide vehicle robot (the guide includes three rolling elements, all of which are located on the front side of the vertical hanging rod) provided in this embodiment of the utility model. Figure 5 ;

[0036] Figure 10 This is a schematic diagram of the structure of the guide vehicle robot provided in this embodiment of the utility model (the guide includes two rolling elements, both of which are located on the front side of the vertical hanging rod, and the outer diameter of the rear rolling element is larger than the outer diameter of the front rolling element). Figure 6 .

[0037] In the picture:

[0038] 10 - Guided vehicle robot; 20 - Track; 201 - Base plate; 2011 - Guide groove; 2012 - First guide groove; 2013 - Second guide groove; 2014 - Curved groove; 2015 - Lower side surface;

[0039] 1-Mounting bracket; 2-Traveling wheel; 3-Vertical hanging rod;

[0040] 41-Guide block; 411-Conical structure; 412-U-shaped top surface; 413-Limiting groove;

[0041] 42-Rolling element; 421-Connecting element; 4211-Smooth rod; 4212-Threaded rod; 4213-End support plate; 422-Roller; 4221-Lower surface; 5-Mounting platform. Detailed Implementation

[0042] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0043] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0044] In the description of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0045] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0046] like Figures 1 to 3 As shown, this embodiment provides a guided vehicle robot 10, which is connected to a track 20. A guide groove 2011 is provided on the base plate 201 of the track 20, as shown... Figure 1 As shown, the guide groove 2011 includes at least a first guide groove 2012 and a second guide groove 2013 that are cross-connected, or the guide groove 2011 is as follows: Figure 2 The curved groove 2014 is shown; it enables the guided vehicle robot 10 to operate as follows: Figure 1 The first guide groove 2012 and the second guide groove 2013 shown are used for track switching, or along such... Figure 2 The curved groove 2014 shown can be used for turning; or the guide groove 2011 can be a straight groove, and the vertical hanging rod 3 can move linearly within the straight groove; thus, the guide carrier robot 10 can transport materials to various processing positions. The materials can specifically be clothing or other objects, without specific limitations here.

[0047] Specifically, such as Figures 3 to 5 As shown, the guided carrier robot 10 includes a mounting frame 1, a vertical rod 3, and a guide component. Two travel wheels 2 are respectively arranged on opposite sides of the mounting frame 1, rotatably positioned on the portions of the base plate 201 located on either side of the guide groove 2011. The first end of the vertical rod 3 is connected to the mounting frame 1 and located between the two travel wheels 2. The second end of the vertical rod 3 moves along the Z-axis through the guide groove 2011 and is connected to a carrier (not shown in the figure) for loading materials. The guide component is connected to the mounting frame 1 and located on the outer periphery of the vertical rod 3. The guide component is movably positioned within the guide groove 2011 and is used to guide the vertical rod 3 to move within the guide groove 2011 (straight-line movement, lane changing, or turning). The carrier can be specifically configured as a clothes hanger, a cargo basket, etc., and the mounting frame 1 can be a ring frame.

[0048] Compared to existing technologies, the guide vehicle robot 10 in this embodiment adds a guide component to the outer periphery of the vertical hanging rod 3. By setting travel wheels 2 on opposite sides of the mounting frame 1, the two travel wheels 2 are rotatably positioned on the portions of the base plate 201 of the track 20 located on both sides of the guide groove 2011. The first end of the vertical hanging rod 3 is connected to the mounting frame 1 and located between the two travel wheels 2, while the second end of the vertical hanging rod 3 moves along the Z-axis through the guide groove 2011 and connects to the carrier used for loading materials. When the two travel wheels 2 rotate on the base plate 201, they can drive the vertical hanging rod 3 and the carrier on it to move along the guide groove 2011. The guide is connected to the mounting frame 1 and placed on the outer periphery of the vertical hanging rod 3. The guide is movably placed in the guide groove 2011. That is, during the long-term operation of the vertical hanging rod 3, the guide will rub against the opposite side walls of the guide groove 2011 to wear down the guide first. The guide can reduce the friction between the vertical hanging rod 3 and the side wall of the guide groove 2011, so as to better protect the vertical hanging rod 3 and avoid the vertical hanging rod 3 from generating additional resistance, noise or wear during operation. This can ensure the working stability of the entire guide carrier robot 10 and extend the service life of the guide carrier robot 10.

[0049] Simultaneously, the vertical rod 3 is guided to move within the guide groove 2011 by the guide component; on the one hand, the guide component is used to guide the vertical rod 3 to change lanes between the first guide groove 2012 and the second guide groove 2013, or to guide the vertical rod 3 to turn within the curved groove 2014, that is, when changing lanes or turning, the guide vehicle robot 10 guides the vertical rod 3 to change lanes or turn. A speed difference will occur between the two traveling wheels 2, causing the guide vehicle robot 10 to tend to turn. Therefore, at this time, the guide component will enter the guide groove 2011 or the turning position that needs to be changed lanes before the vertical rod 3. The cooperation between the guide component and the guide groove 2011 makes the guide vehicle robot 10 more stable in changing lanes or turning, ensuring that the vertical rod 3 can pass through the changing lane position and turning position more easily and smoothly, thereby reducing the probability of the guide vehicle robot 10 spinning or deflecting. On the other hand, when the guide groove 2011 is a straight groove (similar in structure to the first guide groove 2012 mentioned above), that is, when the vertical rod 3 moves in a straight line in the straight groove, if any of the drive components used to drive the traveling wheels 2 jams or is damaged due to an unexpected situation, causing the guide vehicle robot 10 to slip or jam, the guide component at the front end can always provide guidance for the vertical rod 3, so that the vertical rod 3 can continue to move smoothly along the straight groove through the guide component, thereby ensuring the guiding and stability of the vertical rod 3 in the straight groove.

[0050] It is worth noting that the guide vehicle robot 10 also includes two drive components connected to the mounting frame 1. One drive component drives one travel wheel 2 to rotate. That is, during the process of the vertical rod 3 moving in a straight line, changing lanes, or turning, the travel wheel 2 of the guide vehicle robot 10 can be prevented from spinning, deflecting, or slipping by adjusting the working parameters of the two drive components. However, since it is difficult to accurately coordinate and adjust the working parameters of the two drive components according to the specific lane changing or turning conditions, it is also difficult to solve the problem of spinning, deflecting, or slipping of the travel wheel 2 when the vertical rod 3 is moving in a straight line, changing lanes, or turning.

[0051] It is worth noting that when the vertical rod 3 is running in a straight line, changing lanes, or turning, the working parameters of the two drive components can be adjusted accordingly so that the two drive components and the guide components can work together to better avoid the problems of the travel wheel 2 spinning, deflecting, or slipping and getting stuck.

[0052] Specifically, the working principle of the self-driving wheel 2 can be referred to the working principle of common self-driving structures in the prior art. Here, the working principle of the self-driving wheel will not be described in detail.

[0053] It is worth noting that the guiding function of the guide member involved in this embodiment specifically refers to the vertical hanging rod 3 moving in a corresponding guiding manner as the guide member moves. It does not mean that the vertical hanging rod 3 and the guide member move separately and independently. That is, the movement of the vertical hanging rod 3 and the guide member is a whole movement, only with a difference in sequence. That is, the guide member will move relative to the vertical hanging rod 3 first, so that the vertical hanging rod 3 moves with the guide member.

[0054] The guide block 41 is described in detail below:

[0055] Specifically, such as Figure 3 and Figure 4 As shown, the guide component includes a guide block 41, which is slidably disposed within the guide groove 2011. One end of the guide block 41 is encircled on the outer circumference of the vertical hanging rod 3 and connected to the mounting frame 1. The other end of the guide block 41 extends along the traveling direction of the guide vehicle robot 10. When the vertical hanging rod 3 moves in a straight line, changes lanes, or turns, the guide block 41 first moves in a straight line, changes lanes, or turns to carry the vertical hanging rod 3 with it. The traveling direction of the guide vehicle robot 10 is specifically as follows... Figure 3 , Figure 4 The direction indicated by arrow A in the diagram, that is, the direction indicated by arrow A, is the front end involved in this embodiment. For example... Figure 3 and Figure 4 As shown, by extending the other end of the guide block 41 along the traveling direction of the guide vehicle robot 10, the guide block 41 has a certain protruding length relative to the vertical rod 3. This allows the protruding part of the guide block 41 to first move in a straight line or change lanes or turn when the vertical rod 3 changes lanes or turns, thus following the vertical rod 3. This provides better guidance for the vertical rod 3 through the guide block 41. Furthermore, by circumferentially setting one end of the guide block 41 around the outer circumference of the vertical rod 3, the overall thickness of the vertical rod 3 can be increased. The guide block 41 is slidably disposed within the guide groove 2011, so that during long-term operation of the vertical rod 3, the guide block 41 will slide against the opposite sides of the groove wall of the guide groove 2011. This avoids the vertical rod 3 directly sliding against the opposite sides of the groove wall of the guide groove 2011, thus providing better anti-wear protection for the vertical rod 3.

[0056] Furthermore, such as Figure 3 and Figure 4As shown, the front end of the guide block 41 facing the traveling direction of the guide vehicle robot 10 is set as a conical structure 411. Along the traveling direction of the guide vehicle robot 10 and in the direction close to the vertical hanging rod 3, the outer diameter of the conical structure 411 gradually increases. That is, the outer diameter of the guide block 41 at the front end is the smallest, so that the vertical hanging rod 3 can be better guided by the conical structure 411. This makes it easier for the conical structure 411 to enter the straight groove or the guide groove 2011 that needs to change lanes, or to turn in the curved groove 2014, further improving the guiding effect provided by the guide block 41 for the vertical hanging rod 3.

[0057] Specifically, such as Figure 3 and Figure 4 As shown, the guide block 41 is fitted to the mounting frame 1, and the aforementioned conical structure 411 is located on the front side of the mounting frame 1. Specifically, the guide block 41 has a U-shaped structure, and the U-shaped top surface 412 of the guide block 41 abuts against the outer peripheral surface of the mounting frame 1, ensuring a tight fit between the guide block 41 and the mounting frame 1, which is beneficial for the installation connection between the guide block 41 and the mounting frame 1. Furthermore, the part of the U-shaped structure without the U-shaped top surface 412 is the aforementioned front end portion. In other embodiments, the contact surface of the guide block 41 can also be a plane or other surfaces, depending on the actual shape of the mounting frame 1. The specific structure of the guide block 41 is not limited here.

[0058] Furthermore, such as Figure 4 As shown, the mounting bracket 1, guide block 41, and vertical hanging rod 3 can be integrally molded, which simplifies and facilitates their manufacturing while ensuring the stability of their connection. In other embodiments, the mounting bracket 1, guide block 41, and vertical hanging rod 3 can be configured as separate, detachable structures for easy wiring and installation; this is not specifically limited here.

[0059] Specifically, such as Figure 4 As shown, limiting grooves 413 are recessed on the opposite outer sides of the guide block 41. The limiting grooves 413 extend along the traveling direction of the guide carrier robot, and the opposite sides of the guide groove 2011 are slidably engaged within the limiting grooves 413. The limiting grooves 413 provide guidance and stability to the guide block 41 within the guide groove 2011, ensuring reliable sliding of the guide block 41 within the guide groove 2011. Specifically, the limiting groove 413 can be a U-shaped groove. The specific structure of the limiting groove 413 is not limited, as long as it provides a relatively stable limiting and guiding effect for the guide block 41 within the guide groove 2011.

[0060] The following is a detailed description of the rolling element 42:

[0061] In addition, such as Figure 5 and Figure 6 As shown, the guide component may also include multiple rolling elements 42, each of which is rotatably connected to the mounting frame 1. Each rolling element 42 is rolled within the guide groove 2011 (which may be the aforementioned straight groove, the first guide groove 2012, the second guide groove 2013, or the curved groove 2014) and can roll into contact with the inner sidewall of the guide groove 2011. When the guide vehicle robot 10 is running in a straight line, changing lanes, or turning, the rolling elements 42 located at the front end of the vertical hanging rod 3 along the direction of travel of the guide vehicle robot 10 (such as...) Figure 5 The three rolling elements 42 at the front end first move in a straight line, change lanes, or turn, so as to move the vertical hanging rod 3, so that the rolling elements 42 and the guide groove 2011 cooperate to guide the guide vehicle robot 10 forward.

[0062] By having each rolling element 42 located at the front end of the vertical rod 3 and traveling along the direction of travel of the guide vehicle robot 10 first move in a straight line, change lanes, or turn, so as to move the vertical rod 3 with it, the rolling elements 42 can provide a better guiding effect for the vertical rod 3. Furthermore, by having each rolling element 42 located on the outer periphery of the vertical rod 3 and rollingly disposed within the guide groove 2011, during the long-term operation of the vertical rod 3, each rolling element 42 will roll and rub against the opposite side walls of the guide groove 2011, thereby avoiding direct sliding friction between the vertical rod 3 and the opposite side walls of the guide groove 2011. This allows each rolling element 42 to provide a better anti-wear effect for the vertical rod 3, thus better protecting the vertical rod 3.

[0063] It is worth noting that by the rolling friction between the rolling element 42 and the side wall of the guide groove 2011, that is, by converting the sliding friction between the vertical hanging rod 3 and the side wall of the guide groove 2011 in the prior art into rolling friction, the frictional force is greatly reduced. This allows the rolling element 42 to guide the vertical hanging rod 3 while reducing frictional damage to the rolling element 42 and the guide groove 2011 themselves, thereby extending the service life of the rolling element 42 and the guide groove 2011.

[0064] Furthermore, such as Figure 5 and Figure 7 As shown, the rolling elements 42 are arranged in two rows, located on both sides of the vertical hanging rod 3 and facing each other. Along the traveling direction of the guide vehicle robot 10, the distance between the two opposing rolling elements 42 located at the rear is greater than the distance between the two opposing rolling elements 42 located at the front; that is, as shown... Figure 7 The distance between the two opposing rolling elements 42 at the very front is minimized, so that the vertical hanger 3 can be better guided through the two rolling elements 42 with the smallest frontal distance, so that the two rolling elements 42 with the smallest frontal distance (such as...) Figure 7 The two foremost rolling elements 42 can more easily enter the straight groove for straight-line operation, or the first guide groove 2012 or the second guide groove 2013 for changing course, or turn in the curved groove 2014, further improving the guiding effect provided by the rolling elements 42 for the vertical hanging rod 3. Specifically, the distance between the two opposing rolling elements 42 refers to the distance between two opposing rolling elements 42 arranged perpendicular to the direction of travel A.

[0065] Specifically, at least one rolling element 42 is provided on the front side of the vertical hanging rod 3 along the traveling direction of the guide vehicle robot 10, and at least one rolling element 42 is provided at the foremost position in the traveling direction of the guide vehicle robot 10.

[0066] In other embodiments, such as Figure 5 and Figure 8 As shown, a single rolling element 42 can also be provided at the very front end to better guide the vertical hanging rod 3, so that, as shown... Figure 5 and Figure 8 The single rolling element 42 at the very front can more easily enter the first guide groove 2012 or the second guide groove 2013 to change lanes, or turn in the curved groove 2014, thus better ensuring the guiding effect provided by the rolling element 42 for the vertical hanging rod 3.

[0067] In another embodiment, such as Figure 9 As shown, the rolling element 42 can also be positioned on the front side of the vertical rod 3 along the traveling direction of the guide vehicle robot 10. That is, the rolling element 42 is only positioned on the front side of the vertical rod 3, and no rolling element 42 is positioned on the rear side of the vertical rod 3. This allows the vertical rod 3 to be directly guided by the rolling element 42 on the front side, thus ensuring the guiding effect provided by the rolling element 42 to the vertical rod 3. Specifically, three rolling elements 42 are provided on the front side of the vertical rod 3. Here, the specific placement and number of rolling elements 42 on the front and rear sides of the vertical rod 3 are not limited. Further, as... Figure 7 As shown, at least three rolling elements 42 are provided on the same side of the vertical rod 3, and the rolling elements 42 on the same side are arranged in an arc. On the one hand, it can ensure that the two rolling elements 42 with the smallest front end spacing can better guide the vertical rod 3 to run in a straight line / change lanes / turn. On the other hand, the rolling elements 42 arranged in an arc can drive the vertical rod 3 and the arc path into the straight groove or the guide groove 2011 to change lanes or to turn in the curved groove 2014, thereby increasing the smoothness and stability of the vertical rod 3 in running in a straight line / changing lanes / turning.

[0068] It is worth noting that, while ensuring the guiding function of each rolling element 42 on the vertical hanging rod 3, the structural layout between the rolling elements 42 and the vertical hanging rod 3 should be considered to avoid mutual interference. Therefore, it is more appropriate to set three rolling elements 42 on the same side of the vertical hanging rod 3, avoiding the problem of too many or too few rolling elements 42. For example, Figure 5 and Figure 8 As shown, when only one rolling element 42 is set at the foremost end of the travel direction, two rolling elements 42 are correspondingly set on the same side of the vertical hanging rod 3.

[0069] Specifically, such as Figure 6 As shown, the rolling element 42 includes a connecting element 421 and a roller 422; wherein, the connecting element 421 includes a smooth rod 4211, a threaded rod 4212 and an end support plate 4213, the threaded rod 4212 is threaded upward along the Z-axis into the mounting frame 1, and the smooth rod 4211 is connected between the threaded rod 4212 and the end support plate 4213; the roller 422 is rolled on the smooth rod 4211 and limited to a position on the end support plate 4213, that is, the lower surface 4221 of the roller 422 is placed on the end support plate 4213, and the top surface of the roller 422 contacts the outer peripheral surface of the mounting frame 1, so that the roller 422 can be limited to a position on the Z-axis by the end support plate 4213 and the outer peripheral surface of the mounting frame 1, so as to ensure that the roller 422 can only rotate around the axial direction (Z-axis) of the smooth rod 4211; and the roller 422 is used to roll contact with the side wall of the guide groove 2011 to achieve the purpose of guidance and reducing friction. The rolling element 42 can be mounted on the mounting frame 1 via the mounting platform 5. That is, the mounting platform 5 is integrally connected to the outer peripheral surface of the mounting frame 1, and the threaded rod 4212 is threaded upward along the Z-axis into the mounting platform 5, so that the top surface of the roller 422 contacts the bottom end surface of the mounting platform 5. The roller 422 can also be replaced by a bearing.

[0070] By setting up a connector 421 and a roller 422 that cooperate with each other, on the one hand, the structure of the entire rolling element 42 is simple and reasonable, with low cost, and easy and convenient to install and disassemble, so that damaged connector 421 and / or roller 422 can be quickly replaced; on the other hand, the guiding function of the rolling element 42 on the vertical hanging rod 3 can be guaranteed. Specifically, the roller 422 can be a sleeve with two through ends.

[0071] Furthermore, such as Figure 1 , Figure 5 and Figure 6As shown, the upper surface of the roller 422 is higher than the upper side surface of the base plate 201, and the lower surface 4221 of the roller 422 is lower than the lower side surface 2015 of the base plate 201. This ensures that only the roller 422 is inside the guide groove 2011, without the mounting platform 5 and the connector 421 extending into it. This guarantees that during the entire operation, only the roller 422 and the opposite side walls of the guide groove 2011 will experience rolling friction. The mounting platform 5 above the roller 422 and the connector 421 below the roller 422 will not come into contact with or experience sliding friction with the opposite side walls of the guide groove 2011.

[0072] In another embodiment, rollers 422 may be provided only on the front side of the vertical hanging rod 3, and rollers 422 may not be provided on the rear side of the vertical hanging rod 3, as shown in 10. Furthermore, at least two rollers 422 (rolling elements 42) are provided on the front side. Among the rollers 422 located on the front side of the vertical hanging rod 3, the outer diameter of the roller 422 (rolling element 42) located on the front side is smaller than the outer diameter of the roller 422 (rolling element 42) located on the rear side, and the outer diameter of the roller 422 located on the rearmost side (closest to the vertical hanging rod 3) is not smaller than the outer diameter of the vertical hanging rod 3, thereby ensuring that the rollers 422 located on the front side of the vertical hanging rod 3 provide a guiding effect for the vertical hanging rod 3. Specifically, two rollers 422 are provided on the front side of the vertical hanging rod 3 to form a roller 422 layout with one smaller outer diameter and one larger outer diameter on the front side of the vertical hanging rod 3. Here, the specific location and number of rollers 422 on the front side of the vertical hanging rod 3 are not limited.

[0073] In this embodiment, the guide vehicle robot 10, by setting guide members on the outer periphery of the vertical hanging rod 3, can avoid wear on the vertical hanging rod 3 during long-term operation, thereby avoiding additional resistance and noise generated by the vertical hanging rod 3 during operation, thus ensuring the working stability of the entire guide vehicle robot 10. At the same time, when running in a straight line, changing lanes, or turning, the guide members will enter the straight groove or the guide groove 2011 that needs to change lanes or the turning position before the vertical hanging rod 3, so as to carry the vertical hanging rod 3 with it, avoiding the spinning, deflection, or slippage of the travel wheels 2 of the guide vehicle robot 10, thus ensuring the smoothness and stability of the guide vehicle robot 10 in running in a straight line / changing lanes / turning within the guide groove 2011.

[0074] In this embodiment, the guide vehicle robot 10 includes a guide block 41 in its guide component. This allows the protruding length of the guide block 41 along the travel direction to first move in a straight line, change lanes, or turn when changing lanes or turning, so that the vertical rod 3 can follow along. This provides better guidance for the vertical rod 3 through the guide block 41. Furthermore, the front end of the guide block 41 facing the travel direction of the guide vehicle robot 10 is set as a conical structure 411, which makes it easier for the conical structure 411 to enter the straight groove or the guide groove 2011 to change lanes, or to turn in the curved groove 2014, further improving the guiding effect provided by the guide block 41 for the vertical rod 3.

[0075] In this embodiment, the guide vehicle robot 10 includes multiple rolling elements 42 as the guide component. Furthermore, along the travel direction of the guide vehicle robot 10, the distance between two rearward relative rolling elements 42 is greater than the distance between two frontward relative rolling elements 42. Simultaneously, the three rolling elements 42 located on the same side of the vertical hanging rod 3 are arranged in an arc. The upper surface of the roller 422 is higher than the upper side surface of the base plate 201, and the lower surface 4221 of the roller 422 is lower than the lower side surface 2015 of the base plate 201. This ensures that the roller 422 and the opposite side walls of the guide groove 2011 experience rolling friction, greatly reducing frictional force. It also ensures good guiding effect and smoothness of the vertical hanging rod 3 through each rolling element 42.

[0076] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A guided vehicle robot, correspondingly connected to a track (20), wherein the base plate (201) of the track (20) is provided with a guide groove (2011); characterized in that, The guided vehicle robot includes: Mounting frame (1), with travel wheels (2) respectively provided on opposite sides of the mounting frame (1), and the two travel wheels (2) respectively rotate and are placed on the part of the base plate (201) located on both sides of the guide groove (2011); A vertical hanging rod (3) has its first end connected to the mounting frame (1) and located between the two traveling wheels (2). The second end of the vertical hanging rod (3) moves along the Z-axis through the guide groove (2011) and is connected to a carrier for loading materials. A guide member is connected to the mounting bracket (1) and placed on the outer periphery of the vertical hanging rod (3). The guide member is movably placed in the guide groove (2011) and is used to guide the vertical hanging rod (3) to move within the guide groove (2011).

2. The guided vehicle robot according to claim 1, characterized in that, The guide component includes: Guide block (41), the guide block (41) is slidably disposed in the guide groove (2011), one end of the guide block (41) is circumferentially disposed on the outer peripheral surface of the vertical hanging rod (3) and connected to the mounting frame (1), and the other end of the guide block (41) extends along the travel direction of the guide vehicle robot.

3. The guided vehicle robot according to claim 2, characterized in that, The front end of the guide block (41) facing the direction of travel of the guide vehicle robot is set as a conical structure (411), and the outer diameter of the conical structure (411) gradually increases along the direction of travel of the guide vehicle robot and in the direction close to the vertical hanging rod (3).

4. The guided vehicle robot according to claim 2 or 3, characterized in that, The guide block (41) has two opposite outer sides respectively recessed with limiting grooves (413), the limiting grooves (413) extend along the traveling direction of the guide vehicle robot, and the two opposite sides of the guide groove (2011) are respectively slidably engaged in the limiting grooves (413).

5. The guided vehicle robot according to claim 1, characterized in that, The guide component includes: Multiple rolling elements (42) are rotatably connected to the mounting frame (1). Each rolling element (42) is rotatably disposed in the guide groove (2011) and can roll into contact with the inner sidewall of the guide groove (2011). When the guide vehicle robot moves, the rolling elements (42) cooperate with the guide groove (2011) to guide the guide vehicle robot forward.

6. The guided vehicle robot according to claim 5, characterized in that, The rolling elements (42) are arranged in two rows, located on both sides of the vertical hanging rod (3) and arranged opposite each other. Along the travel direction of the guide vehicle robot, the distance between the two relative rolling elements (42) located at the rear is greater than the distance between the two relative rolling elements (42) located at the front.

7. The guided vehicle robot according to claim 6, characterized in that, The rolling element (42) is at least located on the front side of the vertical hanging rod (3) along the travel direction of the guide vehicle robot, and at least one rolling element (42) is located at the foremost end of the travel direction of the guide vehicle robot.

8. The guided vehicle robot according to claim 5, characterized in that, The rolling element (42) is disposed on the front side of the vertical hanging rod (3) along the traveling direction of the guide vehicle robot. There are at least two rolling elements (42). The outer diameter of the rolling element (42) located at the rear is larger than the outer diameter of the rolling element (42) located at the front, and the outer diameter of the rolling element (42) closest to the vertical hanging rod (3) is not smaller than the outer diameter of the vertical hanging rod (3).

9. The guided vehicle robot according to any one of claims 5-8, characterized in that, The rolling element (42) includes: The connector (421) includes a smooth rod (4211), a threaded rod (4212), and an end support plate (4213). The threaded rod (4212) is threaded upward along the Z-axis into the mounting bracket (1), and the smooth rod (4211) is connected between the threaded rod (4212) and the end support plate (4213). Roller (422) is rolled on the light rod (4211) and its position is limited on the end support plate (4213). The roller (422) is used to roll in contact with the side wall of the guide groove (2011).

10. The guided vehicle robot according to claim 9, characterized in that, The upper surface of the roller (422) is higher than the upper side surface of the base plate (201), and the lower surface (4221) of the roller (422) is lower than the lower side surface (2015) of the base plate (201).

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